A bio-inspired predictive sensory-motor coordination scheme for robot reaching and preshaping

This paper presents a sensory-motor coordination scheme for a robot hand-arm-head system that provides the robot with the capability to reach an object while pre-shaping the fingers to the required grasp configuration and while predicting the tactile image that will be perceived after grasping. A model for sensory-motor coordination derived from studies in humans inspired the development of this scheme. A peculiar feature of this model is the prediction of the tactile image. The implementation of the proposed scheme is based on a neuro-fuzzy module that, after a learning phase, starting from visual data, calculates the position and orientation of the hand for reaching, selects the best-suited hand configuration, and predicts the tactile feedback. The implementation of the scheme on a humanoid robot allowed experimental validation of its effectiveness in robotics and provided perspectives on applications of sensory predictions in robot motor control.     

Admittance of rugate filters derived from a 2 × 2 inhomogeneous matrix

Admittance diagrams are used to analyze qualitatively and quantitatively the behavior of inhomogeneous thin films with an arbitrary refractive-index function. From this study it follows that one can treat the behavior of rugate filters by using the concept of effective refractive indices, which are associated with the phase integral in a simple way. These results are applied to the study of periodic systems, and, as expected, one can consider high and low effective refractive indices to determine the important parameters of these stop bands. With these ideas it is possible that one can deal with rugate filters more closely as homogeneous periodic systems by taking advantage of the existing theory.     

Levothyroxine suppressive therapy for solitary thyroid nodule

In order to evaluate the efficacy of a TSH suppressive dose of levothyroxine to reduce the volume of a single thyroid nodule we studied 55 euthyroid patient: 45 (group A) were suppressed with LT4 (mean 1.7 +/- 0.9 micrograms/Kg/day) for 21.3 +/- 5.3 months, and 10 patients (group B) served as controls. All the nodules were "cold" at scintiscanning, solid at ultrasonography and benign by fine-needle aspiration cytology. As responders were assumed the nodules shrinked at the end of treatment of 50% in volume. Thyroid function values (TSH, T4, FT4, T3, FT3, thyroid peroxidase and thyroglobulin antibodies), clinical and ultrasonographic findings were evaluated initially and at the end of the study. A significant nodular volume decrease occurred in 8 treated patients (17.8%) while 37 (82.2%) amongst the group suppressed and all controls showed no change (A vs B = NS). In two untreated patients new nodules were noted; no new nodules were discovered in the treated group (A vs B p < 005). No side effects occurred in any treated patient, even if at the end of treatment a significant T4 and FT4 (p < 0.01) increase was observed. No one onset parameter can predict the response to the therapy. These results suggest that only a small group of patients affected by a single thyroid nodule seems to respond to a TSH suppressive therapy.     

Sorafenib delivery nanoplatform based on superparamagnetic iron oxide nanoparticles magnetically targets hepatocellular carcinoma

Currently,sorafenib is the only systemic therapy capable of increasing overall survival of hepatocellular carcinoma patients.Unfortunately,its side effects,particularly its overall toxicity,limit the therapeutic response that can be achieved.Superparamagnetic iron oxide nanoparticles (SPIONs) are very attractive for drug delivery because they can be targeted to specific sites in the body through application of a magnetic field,thus improving intratumoral accumulation and reducing adverse effects.Here,nanoformulations based on polyethylene glycol modified phospholipid micelles,loaded with both SPIONs and sorafenib,were successfully prepared and thoroughly investigated by complementary techniques.This nanovector system provided effective drug delivery,had an average hydrodynamic diameter of about 125 nm,had good stability in aqueous medium,and allowed controlled drug loading.Magnetic analysis allowed accurate determination of the amount of SPIONs embedded in each micelle.An in vitro system was designed to test whether the SPION micelles can be efficiently held using a magnetic field under typical flow conditions found in the human liver.Human hepatocellular carcinoma (HepG2) cells were selected as an in vitro system to evaluate tumor cell targeting efficacy of the superparamagnetic micelles loaded with sorafenib.These experiments demonstrated that this delivery platform is able to enhance sorafenib's antitumor effectiveness by magnetic targeting.The magnetic nanovectors described here represent promising candidates for targeting specific hepatic tumor sites,where selective release of sorafenib can improve its efficacy and safety profile.     

A model checking-based approach for security policy verification of mobile systems

This article describes an approach for the automated verification of mobile systems. Mobile systems are characterized by the explicit notion of location (e.g., sites where they run) and the ability to execute at different locations, yielding a number of security issues. To this aim, we formalize mobile systems as Labeled Kripke Structures, encapsulating the notion of location net that describes the hierarchical nesting of the threads constituting the system. Then, we formalize a generic security-policy specification language that includes rules for expressing and manipulating the code location. In contrast to many other approaches, our technique supports both access control and information flow specification. We developed a prototype framework for model checking of mobile systems. It works directly on the program code (in contrast to most traditional process-algebraic approaches that can model only limited details of mobile systems) and uses abstraction-refinement techniques, based also on location abstractions, to manage the program state space. We experimented with a number of mobile code benchmarks by verifying various security policies. The experimental results demonstrate the validity of the proposed mobile system modeling and policy specification formalisms and highlight the advantages of the model checking-based approach, which combines the validation of security properties with other checks, such as the validation of buffer overflows.     

Physical and thermal strain of firefighters according to the firefighting tactics used to suppress wildfires

The aim of this study was to analyse the physiological strain of firefighters, using heart rate (HR) and core temperature, during real wildfire suppression according to the type of attack performed (direct, indirect or mixed). Three intensity zones were established according to the HR corresponding to the ventilatory threshold (VT) and respiratory compensation threshold (RCT): zone 1, RCT. The exercise workload (training impulse (TRIMP)), the physiological strain index (PSI) and the cumulative heat strain index(CHSI) were calculated using the time spent in each zone, and the HR and core temperature, respectively. Significantly higher mean HR, time spent in Z2 and Z3 and TRIMP h(-1) were found in direct and mixed versus indirect attacks. The highest PSI and CHSI were observed in the direct attack. In conclusion, exercise strain and combined thermal strain, but not core temperature during wildfire suppression, are related to the type of attack performed. STATEMENT OF RELEVANCE: Our findings demonstrated that wildfire firefighting is associated with high physiological demands, which vary significantly depending on the tactics chosen for performing the task. These results should be kept in mind when planning programmes to improve wildland firefighters' physical fitness, which will allow improvement in their performance.     

Firms’ involvement in Open Source projects: A trade-off between software structural quality and popularity

Open Source (OS) was born as a pragmatic alternative to the ideology of Free Software and it is now increasingly seen by companies as a new approach to developing and making business upon software. Whereas the role of firms is clear for commercial OS projects, it still needs investigation for projects based on communities. This paper analyses the impact of firms’ participation on popularity and internal software design quality for 643 SourceForge.net projects. Results show that firms’ involvement improves the ranking of OS projects, but, on the other hand, puts corporate constraints to OS developing practices, thus leading to lower structural software design quality.     

Multimodal support to group dynamics

The complexity of group dynamics occurring in small group interactions often hinders the performance of teams. The availability of rich multimodal information about what is going on during the meeting makes it possible to explore the possibility of providing support to dysfunctional teams from facilitation to training sessions addressing both the individuals and the group as a whole. A necessary step in this direction is that of capturing and understanding group dynamics. In this paper, we discuss a particular scenario, in which meeting participants receive multimedia feedback on their relational behaviour, as a first step towards increasing self-awareness. We describe the background and the motivation for a coding scheme for annotating meeting recordings partially inspired by the Bales’ Interaction Process Analysis. This coding scheme was aimed at identifying suitable observable behavioural sequences. The study is complemented with an experimental investigation on the acceptability of such a service.

---

Geometry and Stacking Sequence Effect on Composite Spinnaker Pole's Stiffness: Experimental and Numerical Analysis

Composite materials are widely employed in sailing sports, a possible application is for the mast pole or other sail poles. In the paper the attention is focused on the spinnaker poles mechanical performances; in particular the focus is on axial and ring compressive properties of three different carbon fibre/epoxy resin spinnaker poles, to investigate both the diameter and stacking sequence effect on the mechanical performance of the structure. Starting from the stacking sequence used in the production of a particular spinnaker pole, the effect of a lamina at 0° in the middle of wall thickness is investigated with the purpose to obtain a more stiff structure. Moreover to test the proposed stacking sequence on different size products, a prototype with lower diameter is realized. To properly evaluate axial and ring stiffness, axial compression test and ring stiffness one are performed. Then a numerical model is developed to support the design of the finished product: A simple and versatile numerical analysis (FEA with software ANSYS), by simulating ring stiffness and pull-direction compression tests, is carried out in elastic regime. Such model should be suitable for designing and/or verifying the mechanical performance of pole structures, even though differing from those above described, for materials, geometry and stacking sequence.